Multirate Output Feedback Sliding Mode Control of a Hydraulic Manipulator End Effector

D. Waterman and K. Nonami

Graduate School of Science and Technology, Chiba University, 1-33 Yayoi-cho, Inage-ku, Chiba-shi, Chiba, 263-8522, Japan

Abstract
This paper presents a method for controlling the velocity of a hydraulic manipulator’s end effector using predictive multirate output feedback sliding mode control for three co-planar joints. The velocity references for the joints are generated using a pseudo-inverse Jacobian algorithm for a redundant manipulator. The nominal plant model for each joint’s cylinder is second order with time-delayed input and disturbance. The scheme uses fast-sampled output to estimate the unmeasured states. A discrete predictor is used to treat the time delay, and the controller is designed for the future predicted states. Simulation and experiment results verify the proposed controller’s performance despite the strong coupling and nonlinearity inherent in hydraulic manipulators.

 Keywords: Sliding mode control, Multirate output feedback, Discrete predictor, Hydraulic manipulator, Redundant manipulator.

(Full Paper, 1.18 MB)

 

@ARTICLE{P1130941891,

AUTHOR = {D. Waterman and  K. Nonami},

TITLE = {Multirate Output Feedback Sliding Mode Control of a Hydraulic Manipulator End Effector},

JOURNAL = {ICGST  International Journal on Automation, Robotics and Autonomous Systems},

YEAR = {2009},

VOLUME = {09},

ISSUE={I},

PAGES={41--49}

}